Cooperative Lane Changing Schedule under Full Autonomous Vehicles Flow 2020-01-5237
Lane changing (LC) is a complex task of autonomous vehicles that involves the interactions among multiple vehicles. When the candidate gap for lane changing is not sufficient, certain autonomous vehicles can slow down to create a valid gap for other autonomous vehicles’ lane changing purpose. The paper proposes a cooperative lane changing schedule under full autonomous traffic flow for such purpose. Firstly an integrated model that combines gap-feasibility and lane changing trajectory is constructed. The lane changing trajectory is decoupled into spatial trajectory and speed profile. Then the cooperative trajectory optimization model is constructed for single lane changing request scenario using the optimal control. It is solved by discretization. The algorithm is texted under two cases. The results prove the usefulness of the proposed algorithm.